• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.951-956
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• 2007

This paper suggests a high-speed control method which is suitable for multi-joint robots using a real-time stand-alone controller for general-purpose. The fast processing controller consists of a PCI Interface Board and 2-axe PWM drivers. The PCI Interface Board consists of 32-channel PWM output ports, 32-channel Encoder Counters, 32-channel A/D Converters and 48-channel Digital I/O ports, and all the I/O data transmissions are completed within 1ms. And The 2-axe PWM driver can be redesigned easily in order to embed in each link. Experimental implementations show that the high-speed control method can be used for the real-time control which is essential to controlling of multi-body robots such as humanoid robots. Especially, it is efficient for realizing the model-based motion control in demand of much calculation time by the high I/O communication speed.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2005년도 Proceedings of ISRS 2005
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• pp.485-488
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• 2005

The 2nd KOrea Multi-Purpose Satellite (KOMPSAT -2) has been developed by Korea Aerospace Research Institute (KARI) since 2000. Multi Spectral Camera (MSC) is the payload for KOMPSAT -2, which will provide the observation imagery around Korean peninsula with high resolution. KOMPSAT-2 has adopted X-band Tracking System (XTS) for transmitting earth observation data to ground station. For this, data which describes and controls the pre-defined motion of each on-board X-Band antenna in XTS, must be transmitted to the spacecraft as S-Band command and it is called as Tracking Parameter Files (TPF). In this paper, the result of the development of TPF Generation S/W for KOMPSAT-2 X-Band Antenna Motion Control.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2002년도 추계종합학술대회
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• pp.775-778
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• 2002

본 논문에서는 클라이언트 PC상에서 다축 모터를 제어하고 그 상태 데이터들을 모니터링 가능한 임베디드 웹 서버 기반의 다축 제어 시스템을 구성하였다. 하드웨어는 ARM 7312 CPU를 사용한 Nanowit사의 NanoWit2 보드를 사용하였다. 웹 서버는 이 보드에 리눅스 OS를 포팅하고 리눅스 프로그램인 GCC를 사용하여 구현하였다. 모션 컨트롤러는 이모션텍(주)의 MCS-40을 사용하여 웹 서버 보드에서 전송되는 제어 신호를 받아 다축 모터를 구동하고 상태 데이터들을 웹 서버 쪽으로 전송한다.

• 한국정밀공학회지
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• 제17권1호
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• pp.45-51
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• 2000

In this Paper a basic technique of gantry robot control system has been developed to weld the curved part of a large structure. A welding robot is designed to rotate torch and make the torch angle normal to the welding surface. The Kalman filter is applied to obtain the smooth welding path signal from the noised Sensing data. A welding path finding algorithm has been developed in Turbo-C language.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2004년도 Proceedings of ISRS 2004
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• pp.440-443
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• 2004

As a main management unit of MSC, PMU controls the MSC payload operation by issuing commands to other subunit and PMU internal modules. One of these main control functions is to drive the APS(Antenna Pointing System) when APS motion is required. For this purpose, SBC(Single Board Computer) for calculating motor commands and APDE for driving APM(Antenna Pointing Mechanism) by PWM signal operate inside PUM. In this paper, details on APDE design shall be described such as electronic board architecture, primary and redundant design concept, Cross-Strap, FPGA contents and latch-up immune concept, etc., which shall show good practices of electronic board design for space program.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.115.2-115
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• 2002

A real-time vehicle simulation system is a key element of a driving simulator because accurate prediction of vehicle motion with respect to driver input is required to generate realistic visual, motion, sound and proprioceptive cues. In order to predict vehicle motion caused by various driving actions of the driver on board the simulator, the vehicle model should consist of complete subsystems. On this paper, a tracked vehicle dynamic model with high efficiency and effectiveness is introduced that has been implemented on a training driving simulator. The multi-body vehicle model is based on recursive formulation and has been automatically generated from a symbolic computation package develop...

• International Journal of Automotive Technology
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• 제6권6호
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• pp.599-604
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• 2005

A functional suspension model is proposed as a kinematic describing function of the suspension, that represents the relative wheel displacement in polynomial form in terms of the vertical displacement of the wheel center and steering rack displacement. The relative velocity and acceleration of the wheel is represented in terms of first and second derivatives of the kinematic describing function. The system equations of motion for the full vehicle dynamic model are systematically derived by using velocity transformation method of multi-body dynamics. The comparison of test and simulation results demonstrates the validity of the proposed functional suspension modeling method. The model is computationally very efficient to achieve real-time simulation on TMS 320C6711 150 MHz DSP board of HILS (hardware-in-the-loop simulation) system for ECU (electronic control unit) evaluation of semi-active suspension.

• 제어로봇시스템학회논문지
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• 제15권1호
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• pp.23-30
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• 2009

This paper addresses how to make a formation of multiple unmanned aerial vehicles (UAVs) using only the relative range information. Since the relative range can easily be measured by an on-board range sensor like the laser range finder, the proposed method does not require any expensive and heavy wireless communication system to share the navigation information of each vehicle. Based on the two-dimensional (2-D) nonlinear equations of motion, we propose a nonlinear formation controller using the typical input-output feedback linearization method. The performance of the proposed formation controller is verified by various numerical simulations.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 제37회 하계학술대회 논문집 B
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• pp.719-720
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• 2006

In the mechanical system, optimization of motion control is very essential in the aspect of automation technique progress. In the servo system, the function of controller is very important but most of the controllers have played only the role of pulse generator because the controller with main function is very expensive. In this thesis, the system was composed of PC, commonly used driver AC servo motor and a produced control board. The PC transmit a gain, a locus data to a driver and controller. At the same time, it converts imformation from the controller and convert them into data and offer an output with graph. The role of a controller is to trasmit a locus data to a driver and counting the pulse on the phase of an encoder to the PC. We have performed the experiment in order to confirm with variable PID parameter capable of the optimization of gain tuning with the counting of feedback control sensor signal with regard to the external interface into the system, such as torque. Based on the experiment result, we have confirmed as follows: First, it was confirmed that we could easily input control factors P.I Gain, constant $K_P,\;K_I$ into PC. Second, not only pulse generator function was possible, but with this pulse it was also possible to count using software with PIC chip. And third, using the multi-purpose PIC micro chip, simple operation and the formation of small size AC Servo Controller was possible.

• 한국지능시스템학회논문지
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• 제13권2호
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• pp.137-147
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• 2003

새로운 3차원 도립진자 시스템의 구현 및 퍼지제어에 관하여 논한다. 기존의 1차원 또는 2차원 도립진자 시스템과 달리, 3차원 도립진자 시스템은 상하 운동을 포함하는 인간의 도립진자 제어행위를 적절히 모사할 수 있는 새로운 시스템이다. 3차원 도립진자 시스템의 특성 분석과 퍼지제어기 설계를 위하여 3축 직교로봇과 도립진자를 포함하는 기구부의 동력학식을 유도한다. 로봇의 여유자유도와 제한된 작업영역을 고려하면서 도립진자의 요오(yaw) 및 피치(pitch)각을 제어하기 위한 퍼지제어기 설계 방법을 제안한다. 개발된 PC 기반의 다축제어보드를 이용한 실험 결과를 통하여 제안된 시스템의 성능을 검증한다.